/*** Playback Robot ***/
void playback_robot(){
while(playback) {
int i=0;
display_movement(&start_playback);
/* pull from array */
for(i=0; i<=array_length; i++) {
int direction=array1[i];
if(direction == 1) {
move_forward();
}else if(direction == 2) {
move_left();
}else if(direction == 3) {
move_right();
}else if(direction == 4) {
move_reverse();
}else if(direction == 5) {
move_pause();
}else if((direction == 0) || (direction == 9)) {
playback=0;
display_movement(&stop_playback);
break;
} else {
playback=0;
break;
}
if(SW5_down()){ //switch5 stop playback mode
playback=0;
display_movement(&stop_playback);
}
}
}
}
/*** get keypad input ****/
void get_keypad_input() {
char keypad_key;
keypad_enable();
while(training) {
keypad_key=getkey(); // get value from keypad
wait_keyup();
lcd_init();
set_lcd_addr(0x00);
if(keypad_key==1) { // 1 = forward
move_forward();
}else if(keypad_key==4) { // 4 = left
move_left();
}else if(keypad_key==7) { // 7 = right
move_right();
}else if(keypad_key==0) { // 0 = reverse
move_reverse();
}else if(keypad_key==6) { // 7 = pause
move_pause();
}else if(keypad_key==9) { // break out of training mode
training=0;
move_stop();
display_movement(&stop_training);
break;
}else{
display_movement(&error);
}
ms_delay(50);
}
}
void changeMotion()
{
//------------------------------------------------------------------------------
// change motion based on current cat state
// Author: Lingxiao Zheng
// Date: 09/29/2015
//------------------------------------------------------------------------------
switch (Car_State)
{
case 0: // pause 0.5s
case 2:
case 4:
case 6:
case 8:
case 10:
if (resetTimerA0)
changeTimerA0Interval(TA0_INTERVAL_0_5s);
stop();
break;
case 1: // move forward until BLK_LN
if (!startADC)
startADC=TRUE;
move_forward();
break;
case 3: // move reverse until BLK_LN
move_reverse();
// recording time
if (!isRecording)
startRecording();
if (!startADC)
{
five_msec_sleep(SLEEP_1s/2);
startADC=TRUE;
}
break;
case 5: // go forward for half of time going reverse
if (resetTimerA0)
changeTimerA0Interval(TA0_INTERVAL_0_1s*HALF(getRecording()));
move_forward();
break;
case 7: // spin clockwise
if (resetTimerA0)
changeTimerA0Interval(TA0_INTERVAL_3s);
spin_clockwise();
break;
case 9: // spin counter clockwise
if (resetTimerA0)
changeTimerA0Interval(TA0_INTERVAL_5s);
spin_counterclock();
break;
default: // done, disable all ISR
TA0CTL |= MC__STOP;
ADC10IE &= ~ADC10IE0;
while(ALWAYS)
LPM4;
}
}
